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Stockholders' Equity - Schedule of Share-based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Share-based compensation expense $ 33,746 $ 33,084
Cost of revenues    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Share-based compensation expense 527 623
Research and development    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Share-based compensation expense 10,914 11,776
Sales and marketing    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Share-based compensation expense 2,499 4,386
General and administrative    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Share-based compensation expense $ 19,806 $ 16,299